Lab 4CHEL
/
BertlLib
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Fork of
BertlLib
by 
michael hollegha
Revision 7:01d2bc098b6d, committed 2016-04-25
- Comitter:
- TFuchsbichler
- Date:
- Mon Apr 25 06:55:29 2016 +0000
- Parent:
- 6:78243412d2b3
- Commit message:
- Ultraschallsensor Test
Changed in this revision
diff -r 78243412d2b3 -r 01d2bc098b6d Bertl14.cpp
--- a/Bertl14.cpp Thu Mar 05 17:39:16 2015 +0000
+++ b/Bertl14.cpp Mon Apr 25 06:55:29 2016 +0000
@@ -2,41 +2,6 @@
#include "mbed.h"
#include "Bertl14.h"
-Motor::Motor(PinName pwm, PinName fwd, PinName rev) :
-_pwm(pwm), _fwd(fwd), _rev(rev)
-{
- _pwm.period(0.001); _pwm=0;
- _fwd=0; _rev=0;
-}
-
-void Motor::SetPow(float aPow)
-{
- if( aPow>=0.0 ) {
- _fwd=1; _rev=0;
- _pwm = aPow;
- }
- else {
- _fwd=0; _rev=1;
- _pwm = -aPow;
- }
-}
-
-BertlDrive::BertlDrive(PinName pwm, PinName fwd, PinName rev, PinName encoder) :
-Motor(pwm,fwd,rev) , _enc(encoder)
-{
- encCnt = 0;
-}
-
-void BertlDrive::Init()
-{
- _enc.rise(this, &BertlDrive::EncoderISR);
- _enc.fall(this, &BertlDrive::EncoderISR);
-}
-
-void BertlDrive::EncoderISR()
-{
- encCnt++;
-}
PortEx::PortEx() :
diff -r 78243412d2b3 -r 01d2bc098b6d Bertl14.h
--- a/Bertl14.h Thu Mar 05 17:39:16 2015 +0000
+++ b/Bertl14.h Mon Apr 25 06:55:29 2016 +0000
@@ -2,27 +2,6 @@
#ifndef Bertl14_h
#define Bertl14_h
-class Motor {
- public:
- Motor(PinName pwm, PinName fwd, PinName rev);
- void SetPow(float aPow);
- protected:
- PwmOut _pwm;
- DigitalOut _fwd;
- DigitalOut _rev;
-};
-
-class BertlDrive : public Motor {
- public:
- int16_t encCnt;
- public:
- BertlDrive(PinName pwm, PinName fwd, PinName rev, PinName encoder);
- void Init();
- private:
- void EncoderISR();
- InterruptIn _enc;
-};
-
const int BTN_FLL = 0x80;
const int BTN_FL = 0x04;
diff -r 78243412d2b3 -r 01d2bc098b6d BertlObjects.h
--- a/BertlObjects.h Thu Mar 05 17:39:16 2015 +0000
+++ b/BertlObjects.h Mon Apr 25 06:55:29 2016 +0000
@@ -4,8 +4,6 @@
BusOut leds(LED1,LED2,LED3,LED4);
// DigitalOut ledBlue(P1_28); // 3 blaue LEDs
-BertlDrive mL(p34, P1_1, P1_0, P1_12);
-BertlDrive mR(p36, P1_3, P1_4, P1_13); // changed
PortEx pex;
UsDistSens us(p21,p22);
@@ -13,7 +11,6 @@
void InitBertl()
{
leds=0;
- mL.Init(); mR.Init(); pex.Init();
pex.useISR=0;
}